WO2016045596A1

WO2016045596A1 - Method for detecting balance of car body , control method of balance state of car body and dynamic balance car

Info

Publication number: WO2016045596A1
Application number: PCT/CN2015/090487
Authority: WO
Inventors: 陈中元; 王野; 张辉
Original assignee: 鼎力联合(北京)科技有限公司
Priority date: 2014-09-26
Filing date: 2015-09-24
Publication date: 2016-03-31
Also published as: CN104401322A

Abstract

A method for detecting the balance of a car body, a control method of the balance state of the car body and a dynamic balance car. The method for detecting the balance of a car body comprises: monitoring the pitching angle and the steering angle of the car body respectively by an attitude sensor and a steering sensor; generating driving signals to drive a plurality of light-emitting units to emit light according to the monitored pitching angle and steering angle; driving the plurality of light-emitting units to regularly emit light according to the driving signals to simulate the balance state of the car body corresponding to the pitching angle and the steering angle. The control method of the balance state of the car body uses the simulated balance state of the car body obtained by the method for detecting the balance of the car body to adjust the pitching and steering attitudes of the car body. The dynamic balance car can enable a passenger to master the balance state of the car body in real time, and get into a dynamic balance steady attitude DBSA from the current attitude CA quickly and effectively to prevent the car from damaging the surrounding objects or people as much as possible.

Description

Method for detecting vehicle body balance, control method for vehicle body balance state, and dynamic balance vehicle

Technical field

The invention belongs to the technical field of dynamic balance vehicles, and in particular to a method for detecting vehicle body balance, a control method for a vehicle body balance state, and a dynamic balance vehicle.

Background technique

The dynamic balance vehicle directly uses electric energy as power, and by sensing the posture state of the vehicle body, the control command is calculated by the high speed processor, and the motor is driven to move the vehicle body. When the dynamic balance vehicle is in the working state, according to the change of the vehicle attitude, the vehicle body posture is dynamically and frequently adjusted in real time to maintain the dynamic balance of the vehicle; when the dynamic balance vehicle is not in the working state, the vehicle body posture cannot be adjusted and the vehicle posture cannot be maintained. dynamic equilibrium.

In the process of dynamic balance adjustment, in order to respond quickly to the user's operation, the dynamic balance vehicle usually has to quickly adjust the posture of the vehicle body from the current attitude (CA) to the Dynamic Balance Steady Attitude (DBSA). The pitch angle and steering angle of the body to keep the occupant and the vehicle in a dynamic state and not fall. The time for adjusting the posture of the vehicle body is very short, for example, usually less than 500ms, and the pitch angle and the steering angle cannot be changed too much in this process. Otherwise, if the change is too large, the vehicle will be strenuously moved, moved quickly or turned, and may be around. Object or person causes damage.

The prior art method enables the dynamic balance vehicle to enter the dynamic balance Steady Attitude (DBSA) from the current attitude (CA), including:

1) It is not detected whether the occupant gets on the train. As long as the dynamic balance vehicle starts up, it immediately enters the dynamic balance steady-state DBSA. However, this method quickly enters the dynamic balance steady-state DBSA from the current attitude CA immediately after the dynamic balancing vehicle is turned on, and the vehicle body state is adjusted. The excessive time is too short, and the vehicle is easy to move or turn quickly, which may cause damage to surrounding objects or people.

2) It is not detected whether the occupant gets on the vehicle or not, and the time for the dynamic balance vehicle to enter the dynamic balance steady state DBSA from the current posture is more than 2 s, for example, to reduce the speed and angle change of the vehicle moving in the process, thereby reducing the safety hazard. However, in this method, if the occupant has got on the vehicle and the vehicle has not fully entered the dynamic balance steady state DBSA, the vehicle may lose balance and cause the occupant to fall and be injured.

The inventor found in the process of implementing the present invention that, in the above manner, the reason is that the occupant enters the dynamic balance steady state DBSA from the current posture CA in the dynamic balance vehicle, and cannot intuitively understand the balance state of the vehicle body, and does not participate in the dynamic balance. Steady state adjustment. Therefore, it is urgent to provide a technical solution for the occupant to participate in the process of dynamic balance steady state adjustment, real-time grasp of the balance state of the vehicle body, and quickly and effectively from the current The attitude CA enters the dynamic balance steady-state DBSA, avoiding the damage to the surrounding objects or personnel as much as possible.

Summary of the invention

In view of the above problems, the present invention has been made in order to provide a method for detecting vehicle body balance, a vehicle body balance state control method, and a dynamic balance vehicle that overcome the above problems or at least partially solve the above problems.

According to one aspect of the invention, a method of detecting vehicle body balance is provided, comprising:

The attitude sensor and the steering sensor respectively monitor the pitch angle and the steering angle of the vehicle body;

Generating a driving signal to drive the plurality of light emitting units to emit light according to the monitored pitch angle and the steering angle;

The plurality of light emitting units are regularly illuminated according to the driving signal to simulate the pitch angle and the vehicle body balance state corresponding to the steering angle.

Preferably, in an embodiment of the invention, driving the plurality of illumination units to regularly emit light according to the driving signal to simulate the pitch angle and the vehicle body balance state corresponding to the steering angle comprises:

The plurality of light emitting units are respectively driven to emit light according to the driving signal, and the light emitting areas of the plurality of light emitting units are regularly adjusted according to the pitch angle and the steering angle to simulate a vehicle body balance state.

The plurality of light emitting units are respectively driven to emit light according to the driving signal, and the brightness of the plurality of light emitting units is regularly adjusted according to the pitch angle and the steering angle to simulate a vehicle body balance state.

Preferably, in an embodiment of the invention, generating a driving signal to drive the lighting unit to emit light according to the monitored pitch angle and the steering angle comprises:

Generating, according to the monitored pitch angle, a first group of driving signals, the first group of driving signals including a first driving signal to drive the plurality of lighting units of the first group of lighting units in the analog pitch state to emit light;

And generating, according to the monitored steering angle, a second set of driving signals, the second group of driving signals including a second driving signal to drive the plurality of lighting units of the second group of lighting units in the analog steering state to emit light.

Preferably, in an embodiment of the present invention, the method further includes: setting a pitch angle threshold and a steering angle threshold in advance; generating, according to the monitored pitch angle and the steering angle, driving signals to drive the plurality of light emitting units to include According to the monitored pitch angle and pitch angle threshold, the steering angle and the steering angle threshold, a driving signal is generated to drive the plurality of light emitting units to emit light.

Preferably, in an embodiment of the present invention, the method further includes displaying, in a human-computer interaction interface, a regular state of illumination of the illumination unit in real time to present a simulated vehicle body balance state to the driver.

According to another aspect of the present invention, a method of controlling a vehicle body balance state is provided, which includes: According to the simulated vehicle body balance state obtained by any of the above methods, the pitch and steering attitude of the vehicle body are adjusted.

According to still another aspect of the present invention, a dynamic balance vehicle is provided, comprising: an attitude sensor, a steering sensor, a driving unit, an illumination unit, an attitude sensor and a steering sensor for respectively monitoring a pitch angle and a steering angle of the vehicle body; And generating a driving signal to drive the plurality of lighting units to emit light according to the monitored pitch angle and the steering angle; and the lighting unit is configured to periodically emit light according to the driving signal to simulate the pitch angle and the vehicle body balance state corresponding to the steering angle.

Preferably, in an embodiment of the present invention, the method further includes: a human-machine interaction interface for displaying a regular state of the illumination of the illumination unit in real time to present the simulated vehicle body balance state to the driver.

Preferably, in an embodiment of the invention, the lighting unit is regularly arranged at the pedal position of the balance vehicle according to the vehicle body balance state corresponding to the pitch angle and the steering angle.

Compared with the existing solution, the pitch angle and the steering angle of the vehicle body are respectively monitored by the attitude sensor and the steering sensor; and the driving signal is generated according to the monitored pitch angle and the steering angle to drive the plurality of light emitting units to emit light; Driving a plurality of illumination units to regularly emit light according to the driving signal to simulate the pitch angle and the vehicle body balance state corresponding to the steering angle, so that the occupant can grasp the balance state of the vehicle body in real time, and quickly and effectively enter the dynamic balance from the current posture CA. Steady-state DBSA, as far as possible to avoid damage to the surrounding objects or people.

The above description is only an overview of the technical solutions of the present invention, and the above-described and other objects, features and advantages of the present invention can be more clearly understood. Specific embodiments of the invention are set forth below.

DRAWINGS

Various other advantages and benefits will become apparent to those skilled in the art from a The drawings of the present embodiments are only for the purpose of illustrating the preferred embodiments and are not intended to limit the invention. Throughout the drawings, the same reference numerals are used to refer to the same parts. In the drawing:

1 is a schematic flow chart of a method for detecting balance of a vehicle body according to an embodiment of the present invention;

2 is a schematic flowchart of generating a driving signal according to Embodiment 2 of the present invention;

3 is a schematic flow chart of a method for detecting vehicle body balance according to Embodiment 3 of the present invention;

4 is a schematic flow chart of a method for detecting balance of a vehicle body according to Embodiment 4 of the present invention;

FIG. 5 is a schematic diagram showing the regular arrangement of four light emitting units according to an embodiment of the present invention; FIG.

6 is a schematic diagram showing a regular arrangement of five light emitting units according to an embodiment of the present invention;

7 is a schematic diagram showing display of a vehicle body balance state in an LCD liquid crystal display interface according to an embodiment of the present invention;

FIG. 8 is a block diagram showing the functional structure of a dynamic balance vehicle according to an embodiment of the present invention.

detailed description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the embodiments of the present invention have been shown in the drawings, the embodiments Rather, these embodiments are provided so that this disclosure will be more fully understood and the scope of the disclosure will be fully disclosed.

In the following embodiments of the present invention, the pitch angle and the steering angle of the vehicle body are separately monitored by the attitude sensor and the steering sensor; and the driving signal is generated according to the monitored pitch angle and the steering angle to drive the plurality of light emitting units to emit light; Driving a plurality of illumination units to regularly emit light according to the driving signal to simulate the pitch angle and the vehicle body balance state corresponding to the steering angle, so that the occupant can grasp the balance state of the vehicle body in real time, and quickly and effectively enter the dynamic balance from the current posture CA. Steady-state DBSA, as far as possible to avoid damage to the surrounding objects or people.

The core idea of the method for detecting vehicle body balance provided by the following embodiments of the present invention is to include the following steps:

FIG. 1 is a schematic flowchart of a method for detecting a balance of a vehicle body according to an embodiment of the present invention; as shown in FIG. 1 , the method may specifically include:

S101, an attitude sensor and a steering sensor respectively monitor a pitch angle and a steering angle of the vehicle body;

In this embodiment, the pitch angle may refer to different states of the vehicle body tilting forward and backward, and the steering angle may refer to different states of the vehicle body turning left and right. The pitch angle includes a forward tilt angle and a rear elevation angle, and the steering angle includes a left steering angle and a right steering angle.

In this embodiment, the attitude sensor can be designed according to the actual structure of the product and fixed at the center of gravity of the vehicle body. The attitude sensor can include a gyroscope and an accelerometer. The gyroscope tracks the rotation of the vehicle along the X and Y axes, ie the angle of the car body, and the accelerometer measures the acceleration along the angular velocity. Three-axis gyroscopes and three-axis accelerometers are available for specific product applications. The pitch angle of the vehicle body is calculated according to the angle of the vehicle body, the acceleration of the vehicle body, and the angular velocity.

In this embodiment, the steering sensor is coupled to the steering device, and the steering sensor may be a potentiometer or a Hall sensor.

If it is a potentiometer, since the brush of the potentiometer moves along the resistor body of the potentiometer during the steering of the balance car, the resistance change and the current change corresponding to the displacement amount are obtained, thereby obtaining The steering angle of the car body.

In the case of a Hall sensor, during the steering, the Hall sensor moves in the magnetic field, and a Hall voltage is output to determine the steering angle of the steering mechanism based on the Hall voltage.

S102. Generate a driving signal to drive the plurality of light emitting units to emit light according to the monitored pitch angle and the steering angle.

In this embodiment, the specific flow chart of step S102 can be as shown in FIG. 2. FIG. 2 is a schematic flowchart of generating a driving signal according to Embodiment 2 of the present invention, which may specifically include:

S112. Generate, according to the monitored pitch angle, a first group of driving signals, where the first group of driving signals includes a first driving signal to drive the plurality of lighting units of the first group of lighting units in the analog pitch state to emit light;

S122. Generate a second group of driving signals according to the monitored steering angle, where the second group of driving signals includes a second driving signal to drive the plurality of lighting units of the second group of lighting units in the analog steering state to emit light.

In this embodiment, the first group of light emitting units are disposed in a vertical direction to simulate a front and rear tilting state of the vehicle body according to a pitch angle of the vehicle body, and a second group of light emitting units are disposed in a horizontal direction according to the body of the vehicle body. The steering angle simulates the left and right steering state of the vehicle body. Therefore, when generating the driving signal, a first group of driving signals for driving the first group of light emitting units are respectively generated, and a second group of driving signals for the second group of light emitting units are driven. It should be noted that the LEDs included in the first group of the light-emitting units and the second group of the light-emitting units are not specifically limited, such as three or five.

It should be noted that the first group of driving signals may include a plurality of independent driving signals to drive each of the first group of lighting units one by one. The second set of drive signals may also include a plurality of independent drive signals to drive each of the second set of illumination units one by one.

It should be noted that the first group of driving signals may also include only one driving signal, and the driving signals are shared between the respective lighting units in the first group of lighting units. The second set of drive signals may also include only one drive signal that is shared between the light-emitting units of the second set of light-emitting units.

S103. The plurality of light emitting units are respectively driven to emit light according to the driving signal, and the light emitting areas of the plurality of light emitting units are regularly adjusted according to the pitch angle and the steering angle to simulate a vehicle body balance state.

In this embodiment, referring to step S102 above, if a plurality of independent first group driving signals are generated, selectively driving a partial driving signal to selectively drive a part of the first group of light emitting units to emit light. Regularly adjusting a certain number of LEDs in the light-emitting unit group to emit light, thereby adjusting the light-emitting area of the light-emitting unit.

If a first group of driving signals including a driving signal is generated, by selectively sharing the driving signals between the partial lighting unit groups in the first group of lighting units, a plurality of LEDs in the group of lighting units are regularly adjusted to emit light, Thereby, the light-emitting area of the light-emitting unit is adjusted.

For the driving of the second group of light-emitting units, reference may be made to the above-mentioned driving of the first group of light-emitting units, and details are not described herein again.

FIG. 3 is a schematic flowchart of a method for detecting a balance of a vehicle body according to a third embodiment of the present invention; as shown in FIG. 3, the method may specifically include:

S301, an attitude sensor and a steering sensor respectively monitor a pitch angle and a steering angle of the vehicle body;

S302. Generate a driving signal according to the monitored pitch angle and the steering angle to drive the plurality of light emitting units to emit light;

For details about the steps S301-S302, refer to the embodiment shown in FIG. 1 above, and details are not described herein again.

S303. The plurality of light emitting units are respectively driven to emit light according to the driving signal, and the light emitting brightness of the plurality of light emitting units is regularly adjusted according to the pitch angle and the steering angle to simulate a vehicle body balance state.

Different from the embodiment shown in FIG. 1 above, this embodiment simulates the vehicle body balance state by regularly adjusting the light-emitting brightness of the light-emitting unit.

In this embodiment, referring to the above step S102, if a plurality of independent first group driving signals are generated, the driving units in the first group of lighting units are driven to emit light by selectively generating driving signals of different sizes, and the lighting is regularly adjusted. The brightness of the LEDs in the unit.

If a first group of driving signals including a driving signal is generated, by selectively sharing the driving signals between the partial lighting unit groups in the first group of lighting units, a plurality of LEDs in the group of lighting units are regularly adjusted to emit light, Thereby, the luminance of the entire illumination unit is adjusted.

If it is a two-wheeled dynamic balance car, the occupant generally has the two-hand grip in the standing position. Therefore, in order to facilitate the occupant to conveniently observe the balance state of the vehicle body, the first embodiment or the first embodiment shown in FIG. 1 can be used. Based on the third embodiment, another embodiment is formed, which includes an additional step of displaying the regular state of the illumination of the illumination unit in real time in the human-computer interaction interface to present the simulated vehicle body balance state to the driver. This step can be performed after step S103 or step S303.

In a specific implementation, the human-computer interaction interface may be an LCD liquid crystal display interface, in which a solid circular pattern is displayed to simulate a bubble of a horizontal ruler.

In order to provide the occupant with a reference for adjusting the vehicle body balance state, another embodiment may be formed on the basis of the first embodiment shown in FIG. 1 or the third embodiment shown in FIG. 3, which includes the added steps: pre-set The pitch angle threshold and the steering angle threshold are determined; this step may precede step S101 or S301.

In this embodiment, the pitch angle threshold and the steering angle threshold may refer to a pitch angle and a steering angle when the vehicle body is in a self-balancing state.

When the pitch angle threshold and the steering angle threshold are set, the driving signal is generated in this embodiment. At the time, according to the monitored pitch angle and pitch angle threshold, the steering angle and the steering angle threshold, a driving signal is generated to drive the regular illumination of the plurality of illumination units.

The pitch angle threshold includes a forward tilt angle threshold and a backward tilt angle threshold, and the steering angle threshold includes a left steering angle threshold and a right steering angle threshold. The pitch angle threshold and the steering angle threshold can be set based on the vehicle's inertia, dynamics model, and experimental experience values.

In order to provide the occupant with a reference for adjusting the body balance state, a further embodiment may be formed on the basis of the first embodiment shown in FIG. 1 or the third embodiment shown in FIG. 3, which includes the added steps: pre-set The pitch angle difference threshold and the steering angle difference threshold are determined; this step may be before step S101 or S301.

The pitch angle difference Δp is the difference between the pitch angle detected in real time and the pitch angle when the vehicle body is completely in the self-balancing state. The pitch angle difference includes the forward tilt angle difference and the backward tilt angle difference threshold, and the steering The angle difference Δr is the difference between the steering angle detected in real time and the steering angle when the vehicle body is completely in the self-balancing state, including the left steering angle difference and the right steering angle difference. The pitch angle difference threshold Δps is the theoretical difference between the pitch angle detected when the vehicle body is in the dynamic balance state and the pitch angle when the vehicle body is completely in the self-balancing state. The steering angle difference threshold Δrs refers to the theoretical difference between the steering angle detected when the vehicle body is in the dynamic balance state and the steering angle when the vehicle body is completely in the self-balancing state. The pitch angle difference and the steering angle difference threshold can be set according to the vehicle's inertia, dynamics model, and experimental experience values.

After the threshold or the difference threshold is set, the occupant can intuitively or the balance state of the vehicle body through the regular illumination of the illumination unit, so as to adjust the balance state of the vehicle body in real time, such as if the illumination state of the first group of illumination units is passed. It is judged that the forward tilt angle in the pitch angle exceeds the forward tilt angle threshold in the pitch angle threshold, and the vehicle reclining needs to be appropriately adjusted to reduce the forward tilt angle. For details, refer to the description of the subsequent embodiments.

FIG. 4 is a schematic flow chart of a method for detecting the balance of a vehicle body according to Embodiment 4 of the present invention; for details, please refer to FIG. 4, and details are not repeated herein.

5 is a schematic diagram showing the regular arrangement of four illumination units according to an embodiment of the present invention; as shown in FIG. 5, each group of illumination units includes an LED lamp, and LED1, LED2, and LED3 indicate the pitch state of the vehicle body, and LED4, LED2, and LED5 indicate The steering state of the car body. This embodiment will be described by taking the example of setting the pitch angle threshold and the steering angle threshold.

(1) When the brightness of LED1 <LED2 brightness <LED3 brightness, it is in a non-equilibrium state, indicating that the forward tilt angle of the vehicle body exceeds the forward tilt angle threshold, and the occupant needs to properly lean back the vehicle body;

(2) When LED1 brightness>LED2 brightness>LED3 brightness, it is in a non-equilibrium state, indicating that the vehicle body reclining angle exceeds the back-tilt angle threshold, and the occupant needs to lean forward properly;

(3) When LED4<LED2 brightness <LED5 brightness, it is in a non-equilibrium state, indicating that the left steering angle of the handle exceeds the left steering angle threshold, and the occupant needs to adjust the steering device to the right;

(4) When LED4 brightness>LED2 brightness>LED5 brightness, it is in non-equilibrium state, indicating that the right steering angle of the handle exceeds the right steering angle threshold, and the occupant needs to adjust the steering device to the left side;

(5) The closer the brightness of the five LEDs is, the more the pitch angle and the steering angle are closer to their corresponding thresholds, which means that the current attitude of the car body is closer to the steady state of the dynamic balance.

In the specific application of the embodiment of FIG. 5, the above judgment can be intuitively performed by extinguishing a certain lamp:

(1) LED1 is extinguished, LED2 brightness <LED3 brightness, indicating that the vehicle body forward tilt angle exceeds the forward tilt angle threshold, the occupant needs to properly lean back the vehicle body;

(2) LED1 brightness>LED2 brightness, LED3 is off, indicating that the car body reclining angle exceeds the back-tilt angle threshold, the occupant needs to lean forward properly;

(3) LED4 is extinguished, LED2 brightness <LED5 brightness, indicating that the left steering angle of the handle exceeds the left steering angle threshold, and the occupant needs to adjust the steering device to the right;

(4) When LED4 brightness>LED2 brightness, LED5 goes out, indicating that the right steering angle of the handle exceeds the right steering angle threshold, the occupant needs to adjust the steering device to the left.

It should be noted that the embodiment of FIG. 5 is specifically described by using the pitch angle threshold and the steering angle threshold as an example. However, the actual example can also be applied to the pitch angle difference threshold and the steering angle difference threshold, as follows:

(1) When LED1 brightness <LED2 brightness <LED3 brightness, indicating that the vehicle body forward tilt angle difference exceeds the forward tilt angle difference threshold value, the occupant needs to properly lean back the vehicle body;

(2) When LED1 brightness>LED2 brightness>LED3, such as LED3 off, indicating that the vehicle body reclining angle difference exceeds the back-angle angle difference threshold, the occupant needs to lean forward properly;

(3) When LED4<LED2 brightness <LED5 brightness, indicating that the left steering angle difference of the handle exceeds the left steering angle difference threshold, the occupant needs to adjust the steering device to the right;

(4) When LED4 brightness>LED2 brightness>LED5 brightness, indicating that the right steering angle difference of the handle exceeds the right steering angle difference threshold, the occupant needs to adjust the steering device to the left side;

6 is a schematic diagram of a regular arrangement of a light-emitting unit according to Embodiment 5 of the present invention; as shown in FIG. 5, the light-emitting unit includes a first group of light-emitting units 501 and a second group of light-emitting units 502, and a first group of light-emitting units. And the second group of light-emitting units respectively comprise a plurality of light-emitting unit groups, namely, LED1 light group, LED2 light group, LED3 light group, LED4 light group, LED5 light group, and the first group of light-emitting units includes LED1 light group, LED2 light group, LED3 The light group, the second group of light-emitting units comprises an LED4 lamp group, an LED2 lamp group, an LED5 lamp group, an LED1 lamp group, an LED2 lamp group, an LED3 lamp group, an LED4 lamp group, and an LED5 lamp group each including a plurality of LED lamps. In addition to determining the balance state of the vehicle body by the different brightness described in FIG. 4 above, the balance state of the vehicle body can also be determined by the light-emitting area of the light-emitting unit. This embodiment details the determination of the light-emitting area To explain.

(1) When the LED1 lamp group brightness <LED2 lamp group brightness <LED3 lamp group brightness, indicating that the car body forward tilt angle exceeds the forward tilt angle threshold, the occupant needs to properly lean back the vehicle body;

(2) When the LED1 light group's light-emitting area>LED2 light group light-emitting area>LED3 light-group light-emitting area indicates that the vehicle body reclining angle exceeds the back-hanging angle threshold, the occupant needs to lean forward properly;

(3) When the LED4 lamp group illumination area <LED2 lamp group illumination area <LED5 lamp group illumination area, indicating that the left steering angle of the handle exceeds the left steering angle threshold, the occupant needs to adjust the steering device to the right side;

(4) When the LED4 lamp group lighting area>LED2 lamp group lighting area>LED5 lamp group lighting area, indicating that the right steering angle of the handle exceeds the right steering angle threshold, the occupant needs to adjust the steering device to the left side;

(5) The closer the illumination area of the five LED groups is, the more the pitch angle and the steering angle are closer to their corresponding thresholds, which indicates that the current attitude of the vehicle body is closer to the steady state of the dynamic balance.

For the control of the illumination area of each lamp group, refer to the above method embodiment, and details are not described in detail.

7 is a schematic diagram showing the display of the balance state of the vehicle body in the LCD liquid crystal display interface according to the embodiment of the present invention; as shown in FIG. 7, a solid circular pattern is drawn on the LCD liquid crystal screen to simulate the bubble of the level, according to the brightness of the LED lamp or The area of illumination changes the size and diameter of the circular pattern. The drawing formula of the solid circular pattern in this embodiment is as follows:

In the above formula, Xd is the X-axis coordinate of the center of the solid circle, Yd is the Y-axis coordinate of the center of the solid circle, and φd is the diameter of the solid circle. K1, K2, K3, K4, and K5 are constants that are customized according to experience and LCD resolution.

The liquid crystal display interface can be defined as a four quadrant, and the counterclockwise is the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant respectively, and the circular pattern is in the quadrant position by the light emitting area or the brightness of the light emitting unit. Definition.

(1) in the first quadrant

The forward tilt angle of the vehicle body exceeds the forward tilt angle threshold, and the right steering angle of the handle exceeds the right steering angle threshold.

(2) in the second quadrant

The forward tilt angle of the vehicle body exceeds the forward tilt angle threshold, and the left steering angle of the handle exceeds the left steering angle threshold, and is in an unbalanced state.

(3) in the third quadrant

The vehicle body reclining angle exceeds the reclining angle threshold, and the left steering angle of the handle exceeds the left steering angle threshold.

(4) Located in the fourth quadrant

The vehicle body reclining angle exceeds the reclining angle threshold, and the right steering angle of the handle exceeds the right steering angle threshold, and is in an unbalanced state.

(5) At the quadrant level of the quadrant

The front and rear elevation angles of the vehicle body do not exceed the front and rear elevation angle thresholds, but the right steering angle of the handle exceeds the right steering angle threshold.

(6) Negative at the level of the quadrant

The front and rear elevation angles of the vehicle body do not exceed the front and rear elevation angle thresholds, but the left steering angle of the handle exceeds the left steering angle threshold and is in an unbalanced state.

(7) Vertically at the quadrant boundary

The forward tilt angle of the vehicle body exceeds the forward tilt angle threshold, but the left and right steering angles of the handle exceed the left and right steering angle thresholds, and are in an unbalanced state.

(8) Vertical negative direction at the quadrant boundary

The vehicle body reclining angle exceeds the reclining angle threshold, but the left and right steering angles of the handle exceed the left and right steering angle thresholds, and are in an unbalanced state.

(9) Located at the center of the quadrant junction

The front and rear elevation angles of the car body do not exceed the front and rear elevation angle thresholds, and the left and right steering angles of the handlebars do not exceed the left and right steering angle thresholds. At this time, the car body is actually in equilibrium.

It should be noted that the above cases (1)-(9) are not group groups, and various other situations are also included, and details are not described in detail.

It should be noted that the circular pattern in FIG. 6 may also be replaced by other shape patterns such as a polygon.

FIG. 8 is a block diagram showing the functional structure of the dynamic balancing vehicle according to the seventh embodiment of the present invention; as shown in FIG. 8 , it may specifically include: an attitude sensor 701, a steering sensor 702, a driving unit 703, and a lighting unit 704. among them:

The attitude sensor 701 and the steering sensor 702 are respectively used for monitoring the pitch angle and the steering angle of the vehicle body; the driving unit 703 is configured to generate a driving signal according to the monitored pitch angle and the steering angle to drive the plurality of light emitting units 704 to emit light; The 704 is configured to emit light according to the driving signal regularly to simulate the pitch angle and the body balance state corresponding to the steering angle.

In this embodiment, a human-computer interaction interface may be further included for displaying the regular state of the illumination of the illumination unit in real time to present the simulated vehicle body balance state to the driver. The human-computer interaction interface can be an LCD liquid crystal display interface.

In this embodiment, the lighting unit 704 is regularly arranged at the pedal position of the dynamic balance vehicle according to the vehicle body balance state corresponding to the pitch angle and the steering angle.

The first group of light emitting units 714 and the second group of light emitting units 724 are respectively arranged according to the simulated pitch state and the steering state. For example, as shown in FIG. 4, LED1, LED2, and LED3 constitute a first group of light emitting units, and LED4, LED2 and LED5 constitute a second group of light emitting units.

Optionally, if the driving unit 703 generates a plurality of independent first group driving signals, driving the lighting units in the first group of lighting units to emit light by selectively generating driving signals of different sizes, and regularly adjusting the LEDs in the lighting unit. Brightness.

Optionally, if the lighting unit comprises a first group of lighting units and a second group of lighting units, the first group of lighting units further comprises a plurality of groups of lighting units, each of which generates a first group of driving signals including a driving signal, By selectively sharing the driving signal between the partial lighting unit groups in the first group of light emitting units, a certain number of LEDs in the light emitting unit group are regularly adjusted to emit light, thereby adjusting the light emitting brightness or the light emitting area of the entire light emitting unit.

The above description illustrates and describes several preferred embodiments of the present invention, but as described above, it should be understood that the invention is not limited to the forms disclosed herein, and should not be construed as Other combinations, modifications, and environments are possible and can be modified by the above teachings or related art or knowledge within the scope of the inventive concept described herein. All changes and modifications made by those skilled in the art are intended to be within the scope of the appended claims.

Claims

A method for detecting vehicle body balance, characterized in that it comprises:

The attitude sensor and the steering sensor respectively monitor the pitch angle and the steering angle of the vehicle body;

Generating a driving signal to drive the plurality of light emitting units to emit light according to the monitored pitch angle and the steering angle;

The plurality of light emitting units are regularly illuminated according to the driving signal to simulate the pitch angle and the vehicle body balance state corresponding to the steering angle.
The method according to claim 1, wherein the driving the plurality of light-emitting units to regularly emit light according to the driving signal to simulate the pitch angle and the body balance state corresponding to the steering angle comprises:

The plurality of light emitting units are respectively driven to emit light according to the driving signal, and the light emitting areas of the plurality of light emitting units are regularly adjusted according to the pitch angle and the steering angle to simulate a vehicle body balance state.
The method according to claim 1, wherein the driving the plurality of light-emitting units to regularly emit light according to the driving signal to simulate the pitch angle and the body balance state corresponding to the steering angle comprises:

The plurality of light emitting units are respectively driven to emit light according to the driving signal, and the brightness of the plurality of light emitting units is regularly adjusted according to the pitch angle and the steering angle to simulate a vehicle body balance state.
The method according to claim 1, wherein generating a driving signal to drive the light emitting unit to emit light according to the monitored pitch angle and the steering angle comprises:

Generating, according to the monitored pitch angle, a first group of driving signals, the first group of driving signals including a first driving signal to drive the plurality of lighting units of the first group of lighting units in the analog pitch state to emit light;

And generating, according to the monitored steering angle, a second set of driving signals, the second group of driving signals including a second driving signal to drive the plurality of lighting units of the second group of lighting units in the analog steering state to emit light.
The method according to claim 1, further comprising: setting a pitch angle threshold and a steering angle threshold in advance; generating a driving signal to drive the plurality of light emitting units to emit light according to the monitored pitch angle and the steering angle The method includes: generating a driving signal to drive the plurality of light emitting units to emit light according to the monitored pitch angle and the pitch angle threshold, the steering angle and the steering angle threshold.
The method according to claim 1, further comprising: displaying a regular state of illumination of the illumination unit in real time in the human-computer interaction interface to present the simulated vehicle body balance state to the driver.
A method for controlling a vehicle body balance state, comprising: simulating a vehicle body balance state obtained by the method according to any one of claims 1-6, and adjusting a pitch and a steering posture of the vehicle body.
A dynamic balance vehicle, comprising: an attitude sensor, a steering sensor, a driving unit, a lighting unit, an attitude sensor and a steering sensor respectively for monitoring a pitch angle and a steering angle of the vehicle body; the driving unit is configured to be used according to the monitoring Pitch angle and steering angle to generate drive signals, The plurality of light emitting units are driven to emit light; the light emitting unit is configured to regularly emit light according to the driving signal to simulate the pitch angle and the vehicle body balance state corresponding to the steering angle.
The dynamic balance vehicle according to claim 8, further comprising: a human-machine interaction interface for displaying a regular state of illumination of the illumination unit in real time to present a simulated vehicle body balance state to the driver.
The dynamic balance vehicle according to claim 8, wherein the lighting unit is regularly arranged at a pedal position of the balance vehicle in accordance with a vehicle body balance state corresponding to the pitch angle and the steering angle.